MATLAB/Simulink Simulation
Budget: $250 – $750 USD
I need a freelancer to build a complete MATLAB/Simulink simulation for a bio-inspired autonomous underwater vehicle (AUV) that uses undulating fin locomotion. The simulation should model the nonlinear vehicle dynamics, generate fin-based thrust, and test an advanced control architecture.
What the simulation must include
1. Nonlinear 3-DOF AUV Dynamic Model
• Surge, sway, yaw, and heading
• Added mass, quadratic drag, cross-coupling terms
• Environmental disturbances (currents, turbulence, noise)
2. Fin Waveform Generator
• Traveling sinusoidal fin motion
• Adjustable amplitude, frequency, and phase
• Mapping from fin motion → thrust, lateral force, and yaw moment
3. Control System Implementation
• Fractional Sliding Mode Controller (FSMC)
• Oustaloup approximation (or similar) for fractional derivatives
• Error tracking of surge velocity and heading
• Robust disturbance rejection
4. Koopman Operator (Optional but preferred)
• Learn lifted linear dynamics from simulation data
• Least-squares regression to estimate Koopman matrix
• Optional predictive control integration
5. Simulation Scenarios
• No disturbance baseline
• Constant current
• Wave-like disturbance
• High-turbulence scenario
• Sudden current direction change
• Sensor noise scenario
6. Outputs & Plots Needed
• Surge velocity vs time
• Heading vs time
• Control inputs vs time
• Phase portrait (u vs v)
• Summary metrics such as mean error, control effort, chattering index
Deliverables
• MATLAB code (.m) and Simulink model (.slx)
• Well-commented functions for dynamics, waveform, controller, and disturbance
• Script to run simulations and generate plots
• Documentation explaining how to use and modify the model
Skill Requirements
• Strong MATLAB & Simulink experience
• Background in nonlinear control (especially sliding mode or fractional control)
• Understanding of hydrodynamics or robotic motion systems
• Experience with Koopman operators is a plus
Goal
This simulation will support my paper on control systems for bio-inspired underwater vehicles. It should be clean, reproducible, and ready for figures to be included in publication. I can include your name if you want in the publication. Please provide quote
What the simulation must include
1. Nonlinear 3-DOF AUV Dynamic Model
• Surge, sway, yaw, and heading
• Added mass, quadratic drag, cross-coupling terms
• Environmental disturbances (currents, turbulence, noise)
2. Fin Waveform Generator
• Traveling sinusoidal fin motion
• Adjustable amplitude, frequency, and phase
• Mapping from fin motion → thrust, lateral force, and yaw moment
3. Control System Implementation
• Fractional Sliding Mode Controller (FSMC)
• Oustaloup approximation (or similar) for fractional derivatives
• Error tracking of surge velocity and heading
• Robust disturbance rejection
4. Koopman Operator (Optional but preferred)
• Learn lifted linear dynamics from simulation data
• Least-squares regression to estimate Koopman matrix
• Optional predictive control integration
5. Simulation Scenarios
• No disturbance baseline
• Constant current
• Wave-like disturbance
• High-turbulence scenario
• Sudden current direction change
• Sensor noise scenario
6. Outputs & Plots Needed
• Surge velocity vs time
• Heading vs time
• Control inputs vs time
• Phase portrait (u vs v)
• Summary metrics such as mean error, control effort, chattering index
Deliverables
• MATLAB code (.m) and Simulink model (.slx)
• Well-commented functions for dynamics, waveform, controller, and disturbance
• Script to run simulations and generate plots
• Documentation explaining how to use and modify the model
Skill Requirements
• Strong MATLAB & Simulink experience
• Background in nonlinear control (especially sliding mode or fractional control)
• Understanding of hydrodynamics or robotic motion systems
• Experience with Koopman operators is a plus
Goal
This simulation will support my paper on control systems for bio-inspired underwater vehicles. It should be clean, reproducible, and ready for figures to be included in publication. I can include your name if you want in the publication. Please provide quote